Dynamic modeling of spatial flexible manipulators

摘要

In this paper, a redundant Lagrangian/Finite element approach is proposed to model the dynamics of multi-link spatial manipulators. The links are assumed to be deformable due to bending and torsion. The elastic deformations of each link are expressed in its tangential (clamped free) local floating frame. The constraint equations due to the connectivity of the links are added to the equations of motion of the system by using Lagrange multipliers. The resulting mixed set of nonlinear differential equations and algebraic equations (DAEs) are solved numerically to predict the dynamic behavior of the system.